Automated pipeline pig handling system

ABSTRACT

Certain aspects of the subject matter described here can be implemented as a method. A location of an entrance to a pipeline pig launcher configured to launch a pipeline pig into a pipeline is determined by an automated pipeline pig handling system positioned at a starting location. The pipeline pig is self-aligned with the entrance to the pipeline pig launcher by the automated pipeline pig handling system. The entrance to the pipeline pig launcher is open. The pipeline pig is inserted by the automated pipeline pig handling system into the entrance to the pipeline pig launcher. The entrance to the pipeline pig launcher is closed by the automated pipeline pig handling system after the pipeline pig is inserted into the entrance. The automated pipeline pig handling system is self-returned to the starting location after inserting the pipeline pig into the entrance to the pipeline pig launcher.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of, and claims priority to U.S. patentapplication Ser. No. 15/280,079, filed on Sep. 29, 2016; which in turnclaims the benefit of U.S. Provisional Patent Application No.62/234,153, filed on Sep. 29, 2015; the entire contents of which areincorporated by reference herein.

TECHNICAL FIELD

This specification relates to pipelines, for example, pipelines fortransmitting fluid such as hydrocarbons.

BACKGROUND

Pipelines that carry fluids, for example, petroleum, natural gas,multi-phase fluids or other fluids, are internally inspected or cleanedby inserting a pig into the pipeline at a first point. The fluidsflowing through the pipeline push the pig through the pipeline to asecond point where the pig is caught and removed from the pipeline. Apipeline pig can be any structure or device that can move through apipeline to perform a function. In one example, a pipeline pig can beimplemented as a pipeline scraper to clean an interior of the pipeline.In another example, a pipeline pig can be implemented to swab, i.e.,remove liquids or gases, from the pipeline. In a further example, apipeline pig can be implemented to batch, i.e., separate differentfluids in the pipeline. In additional examples, pipeline pigs can beimplemented to perform intelligent operations such as monitoring andconveying information about a particular condition or performance of thepipeline.

Pipeline pigs can be launched into pipelines by providing launchstations or catcher stations (or both) at multiple points along thepipeline at which a pipeline pig will be inserted or removed (or both).The insertion and retrieval of pipeline pigs can be performed manually(for example, with human operators) or with partial assistance forexample, using electromechanical lifting, pushing and retrievingdevices. Such devices perform high-level operations such as pig lifting,pushing, pulling or combinations of them while human operators performfiner operations such as positioning the pig for either launching orreceiving.

SUMMARY

This specification describes technologies relating to a pipeline pighandling system.

Certain aspects of the subject matter described here can be implementedas a method. A location of an entrance to a pipeline pig launcherconfigured to launch a pipeline pig into a pipeline is determined by anautomated pipeline pig handling system positioned at a startinglocation. The pipeline pig is self-aligned with the entrance to thepipeline pig launcher by the automated pipeline pig handling system. Theentrance to the pipeline pig launcher is open. The pipeline pig isinserted by the automated pipeline pig handling system into the entranceto the pipeline pig launcher. The entrance to the pipeline pig launcheris closed by the automated pipeline pig handling system after thepipeline pig is inserted into the entrance. The automated pipeline pighandling system is self-returned by the automated pipeline pig handlingsystem to the starting location after inserting the pipeline pig intothe entrance to the pipeline pig launcher.

The automated pipeline pig handling system includes an outer body and anarticulated arm attached to the outer body, the articulated armconfigured to connect to the pipeline pig. The automated pipeline pighandling system operates the articulated arm to lift the pipeline pig,and the automated pipeline pig handling system operates the articulatedarm to place the pipeline pig on the outer body. The automated pipelinehandling system includes a transportation assembly attached to the outerbody, the transportation assembly configured to receive the pipeline pigand to move the pipeline pig to one or multiple locations on thetransportation assembly, multiple sensors, at least one of the sensorsattached to the outer body, the multiple sensors configured to senseparameters associated with a location of the outer body relative to thepipeline pig launcher, and a controller including processing circuitry,the controller connected to the articulated arm, the transportationassembly and the sensors, the controller configured to perform pipelinepig launching or retrieval operations by controlling the articulated armand the transportation assembly based on the parameters sensed by thesensors. Operating the articulated arm to lift the pipeline pig andoperating the articulated arm to place the pipeline pig on the outerbody includes receiving, by the automated pipeline pig handling system,first sensor information from multiple sensors, the first sensorinformation identifying the starting location of the pipeline pigrelative to the location of the outer body, adjusting, by the automatedpipeline pig handling system, a position of the articulated arm toattach to the pipeline pig based on identifying the starting location ofthe pipeline pig relative to the location of the outer body, moving, bythe automated pipeline pig handling system, the articulated arm to thestarting location of the pipeline pig, and attaching, by the automatedpipeline pig handling system, the articulated arm to the pipeline pig.

The entrance to the pipeline pig has a first longitudinal axis. Theouter body has a second longitudinal axis. Self-aligning the pipelinepig with the entrance to the pipeline pig launcher includesself-aligning the second longitudinal axis with the first longitudinalaxis. Self-aligning the second longitudinal axis with the firstlongitudinal axis includes receiving, by the automated pipeline pighandling system, second sensor information from multiple sensors, thesecond sensor information identifying a location of the firstlongitudinal axis of the entrance to the pipeline pig launcher relativeto a location of the second longitudinal axis of the outer body, andoperating, by the automated pipeline pig handling system, thetransportation assembly to move the outer body and align the secondlongitudinal axis with the first longitudinal axis. The automatedpipeline pig handling system includes at least one of a scissors lift oroutriggers, wherein self-aligning the second longitudinal axis with thefirst longitudinal axis includes operating, by the automated pipelinepig handling system, the scissors lift or the outriggers to increase anelevation of the pipeline pig from a ground and to align the secondlongitudinal axis with the first longitudinal axis.

The articulated arm is extendable from a retracted state to an extendedstate. Inserting, by the automated pipeline pig handling system, thepipeline pig into the entrance to the pipeline pig launcher includesoperating, by the automated pipeline pig handling system, to extend thearticulated arm to which the pipeline pig is attached from the retractedstate to the extended state, wherein, in the extended state, thearticulated arm extends into the entrance to the pipeline pig launcher.The articulated arm includes a telescoping piston. Inserting, by theautomated pipeline pig handling system, the pipeline pig into theentrance to the pipeline pig launcher includes operating, by theautomated pipeline pig handling system, the articulated arm to which thepipeline pig is attached to extend the telescoping piston. An extendedtelescoping piston extends into the entrance to the pipeline piglauncher.

Certain aspects of the subject matter described here can be implementedas an automated pig handling system. The automated pig handling systemincludes an outer body, an articulated arm attached to the outer body,the articulated arm configured to connect to a pipeline pig, atransportation assembly attached to the outer body, the transportationassembly configured to receive the pipeline pig and to move the pipelinepig to one or more locations on the transportation assembly, multiplesensors, at least one of the sensors attached to the outer body, thesensors configured to sense parameters associated with a location of theouter body relative to a pig trap door, and a controller includingprocessing circuitry, the controller connected to the articulated arm,the transportation assembly and the sensors. The controller isconfigured to perform pipeline pig launching or retrieval operations bycontrolling the articulated arm and the transportation assembly based onthe parameters sensed by the sensors.

The articulated arm is attached to the outer body on a rotatable base.The controller is configured to control the articulated arm to rotateabout the base. The controller is configured to control the articulatedarm to transition between a fully retracted state and a fully extendedstate. The articulated arm includes multiple joints. The controller isconfigured to control a swiveling of the articulated arm about each ofthe joints. The articulated arm includes a telescoping piston. Thecontroller is configured to control the telescoping piston between anextended position and a retracted position. The transportation assemblyincludes a conveyer belt. The controller is configured to control amovement of the conveyer belt. The transportation assembly includes asliding tray. The controller is configured to extend the sliding traybetween a location on the outer body to a location extending beyond theouter body.

Certain aspects of the subject matter described here can be implementedas a method. A location of an entrance to a pipeline pig trap configuredto receive a pipeline pig from a pipeline is determined by an automatedpipeline pig handling system positioned at a starting location. Theentrance to the pipeline pig trap is open. The automated pipeline pighandling system the pipeline pig is self-aligned with the entrance tothe pipeline pig trap. The pipeline pig is removed by the automatedpipeline pig handling system out of the entrance to the pipeline pigtrap. The entrance to the pipeline pig trap is closed after the pipelinepig is removed out of the entrance by the automated pipeline pighandling system. The automated pipeline pig handling system isself-returned to the starting location after removing the pipeline pigfrom the entrance to the pipeline pig trap.

The automated pipeline pig handling system includes an outer body and anarticulated arm attached to the outer body; the articulated arm isconfigured to connect to the pipeline pig. The articulated arm isoperated by the automated pipeline pig handling system to lift thepipeline pig. The articulated arm is operated, by the automated pipelinepig handling system to place the pipeline pig on the outer body. Theautomated pipeline handling system includes a transportation assemblyattached to the outer body, the transportation assembly configured toreceive the pipeline pig and to move the pipeline pig to one or morelocations on the transportation assembly, multiple sensors, at least oneof the sensors attached to the outer body, the sensors configured tosense parameters associated with a location of the outer body relativeto the pipeline pig launcher; and a controller that includes processingcircuitry. The controller is connected to the articulated arm, thetransportation assembly, and the sensors. The controller is configuredto perform pipeline pig launching or retrieval operations by controllingthe articulated arm and the transportation assembly based on theparameters sensed by the sensors. Operating the articulated arm to liftthe pipeline pig and operating the articulated arm to place the pipelinepig on the outer includes receiving, by the automated pipeline pighandling system, first sensor information from the sensors, the firstsensor information identifying the starting location of the pipeline pigrelative to the location of the outer body, adjusting, by the automatedpipeline pig handling system, a position of the articulated arm toattach to the pipeline pig based on identifying a starting location ofthe pipeline pig relative to the location of the outer body, moving, bythe automated pipeline pig handling system, the articulated arm to thestarting location of the pipeline pig, and attaching, by the automatedpipeline pig handling system, the articulated arm to the pipeline pig.

The articulated arm is retractable from an extended state to a retractedstate. Removing, by the automated pipeline pig handling system, thepipeline pig from the entrance to the pipeline pig trap includesoperating, by the automated pipeline pig handling system, to retract thearticulated arm to which the pipeline pig is attached from the extendedstate to the retracted state, wherein, in the retracted state, thearticulated arm retracts out of the entrance to the pipeline pig trap.The articulated arm includes a telescoping piston, and wherein removing,by the automated pipeline pig handling system, the pipeline pig out ofthe entrance to the pipeline pig trap includes operating, by theautomated pipeline pig handling system, the articulated arm to which thepipeline pig is attached to retract the telescoping piston, wherein aretracted telescoping piston retracts out of the entrance to thepipeline pig trap.

The details of one or more embodiments of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages of thesubject matter will become apparent from the description, the drawings,and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram showing an example of an automaticpipeline pig handling system configured to load a pipeline pig into apipeline.

FIGS. 2A-2C are schematic diagrams of an example of an automaticpipeline pig handling system.

FIG. 3 is a schematic diagram of outriggers of an example of anautomatic pipeline pig handling system.

FIGS. 4A-4C are schematic diagrams of a pipeline pig being carried by anexample of an automatic pipeline pig handling system.

FIG. 5 is a schematic diagram of an example of an automatic pipeline pighandling system with a scissor lift.

FIG. 6 is a schematic diagram of an articulated arm of an example of anautomatic pipeline pig handling system.

FIG. 7 is an operational schematic diagram showing a pig trap andassociated valves to flow the pipeline pig through the pipeline.

FIG. 8 is a schematic diagram of a hydraulic double acting piston of anexample of an automatic pipeline pig handling system.

FIG. 9 is a schematic diagram of the monitoring camera equipped withpan, tilt and zoom commands and hydraulic pistons to control verticalrotation, horizontal and vertical movements of the camera.

FIG. 10 is a schematic drawing of an example of remote controller to beused by an operator.

FIG. 11 is a schematic diagram of an example of the camera sliding traywhich is mounted on each lateral of the USPGV to allow a video camera tomove horizontally along the USPGV guiding rails.

FIG. 12 is a schematic diagram of an example of the two sided conveyorof two separated belts.

FIG. 13 is a schematic diagram of an example of the automatic dooropener.

Like reference numbers and designations in the various drawings indicatelike elements.

FIG. 14 shows a flowchart of an example method to utilize an automaticpipeline handling system.

FIG. 15 shows a flowchart of an alternative example method to utilize anautomatic pipeline handling system.

DETAILED DESCRIPTION

This specification relates to pipeline pig handling apparatuses andsystems. In some implementations, a pipeline pig handling system can beimplemented as an automated pig launching and retrieving system whichincludes a portable, unmanned, ground and self-propelled vehicle. Such avehicle can insert a pipeline pig into or retrieve a pipeline pig from apig trap. The vehicle can include a controller operatively coupled tothe vehicle to execute instructions to perform pipeline pig launchingand receiving operations. The system can be transported to a location ofa pipeline using a truck or another suitable carrying vehicle.

FIG. 1 is a schematic diagram showing an example of an automaticpipeline pig handling system 34 configured to load a pipeline pig (notshown) into a pipeline. The automatic pipeline pig handling system 34can be implemented as an unmanned and self-propelled ground vehicle(USPGV). In some implementations, the system 34 can be placed at alocation near a pig trap. The pig trap can include a trap door 48, adoor opener support pole 36, an electro-hydraulic unit 35, and a localground controller 47. The trap door 48 can be opened to insert thepipeline pig into the pipeline. The local ground controller 47 can beconnected to a command and power wiring conduit 46 through which wirescan be passed to connect the controller 47 to multiple position switches(for example, a first position switch 39, a second position switch 42, athird position switch 43, or more or fewer position switches). The wirescan also connect the controller 47 to multiple command-associated valves(for example, a first valve 38, a second valve 40, a third valve 44, afourth valve 45, or more or fewer valves).

In some implementations, the controller 47 is connected to the on-boardUSPGV controller 21A (FIG. 4A), for example, via a wireless link, tofacilitate the mobility of the USPGV within the pig launching orreceiving facilities. The controller 47 transmits the status signals ofthe pig trap and valves connected to it to allow the USPGV to commencepig launching or receiving operations. The controller 47 is alsoconnected to a pressure sensor/transmitter 41, which, in turn, isconnected to the pipeline. The pressure sensor/transmitter 41 can sensea pressure in the pipeline and transmit the pressure, for example, as acurrent or voltage signal, to the controller 47. The controller 47 canaccess a storage medium (for example, a computer-readable storagemedium) that stores multiple specified values and mathematical functionsassociated with threshold pressures in the pipeline. The controller 47can compare the pressure sensed by and received from the pressuresensor/transmitter 41 with one or more threshold pressures to determineat least one of if the pig operation can be initiated safely, if theoperation must be stopped in place or if the operation must be aborted.

In some implementations, the system 34 automatically and without userintervention transports a pipeline pig from a location at which the pigis positioned or stored to the pig trap and inserts the pig trap intothe trap door 48. To do so, in some implementations, the system 34 cantraverse a ground path 33 along which multiple path transmitters 51 canbe disposed. In some other implementation, the system 34, through theonboard controller 21A, identifies its current location by utilizing aGPS antenna 2 (FIG. 2A). To do so, the system 34 can implement aself-location function utilizing the location information received bythe GPS antenna 2, which sends geographical and time coordinate signalsto the USPGV controller 21A. The controller 21A stores, for example, ina non-volatile memory, the preselected trajectory of the USPGV from adeparture point to a destination pre-selected by the user.

In some implementations, the system 34 can travel from a first location(for example, a gated fence in the pig facility or other location) to asecond location (for example, the trap door 48) by following atrajectory defined by path transmitters 51. A path transmitter 51 can bea wireless identifiable ground transmitter that can send a coded signaluniquely associated to its geographical location. In one example, thepath transmitters 51 are passive (no power required) RFID transmitterscapable of responding to a RFID reader module located inside the USPGVcontroller 21A. In another example, the path transmitters 51 areactively powered by built-in power sources and are capable oftransmitting a beacon wireless signal to the receiver located inside theUSPGV controller 21A. In another example, visual tags can be used; thevisual tags can be identified by cameras or similar optical sensors onthe USPGV. When path transmitters 51 are used, the system 34 can followa pre-established trajectory defined by the path transmitters 51 alongthe ground path 33 to the pig trap. In some instances, the system 34 canfollow the same ground path 33 back to an initial position. The path canbe a trajectory starting at the gated fence of the pig facility andending a certain distance (for example, 1.5 meters) from the pig trapdoor 48. In one example, the ground path covers the distance whichextends from the USPGV's permanent storage place, for example, awarehouse, to the pig operation facility. In another example, the groundpath starts at the entry gate of the pig handling facility, eitherlaunching or receiving, and ends at a safety distance predetermined bythe user and measured from the pig trap door 48. Upon reaching the trapdoor 48, the system can automatically and without user interventionself-align to the trap door. Such self-aligning can be implemented toboth launch the pipeline pig into the pipeline and to retrieve the pigfrom the pipeline.

In some implementations, the automated pipeline pig handling systemdescribed here can self-perform all operations described here using oneor more onboard controllers connected to one or more onboard oroff-board sensors. Alternatively, the system can be controlled by ahuman operator 50 using a controller 49 operatively coupled to theonboard controller.

FIGS. 2A-2C are schematic diagrams of an example of an automaticpipeline pig handling system. The system includes a beacon 1 and aGlobal Positioning System (GPS) antenna 2 mounted on a beacon pole 3.The beacon 1 can output visual and audible signals (for example, lightalarms, sound alarms or other signals) or visual signals (for example,light signals) to communicate that the system is in motion or isperforming some operation. The GPS antenna 2 can be configured tocommunicate and exchange signals (for example, data signals) with a GPSsystem. Using the signals, the GPS antenna 2 can self-locate a positionof the system relative to the pig trap as described above.

The system can include an articulated arm 5 that is connected to thecontroller 21A which can drive the arm 5 to pick up the pig, move it tothe desired position and push or retrieve it into and from the pig trap.In some implementations, the arm 5 can be an electro-hydraulic arm thatcan be operated using an electro-hydraulic unit 13 connected to thecontroller 21A. The articulated arm 5 can be operated using hydraulicmechanisms, electrical motors or pneumatic actuators or combinations ofthem. The controller 21A can execute instructions to control motion andoperation of the articulated arm 5. For example, the controller 21A cancause the articulated arm 5 to pick up a pipeline pig (not shown) from afirst location and place the pig on the conveyor belt 83 and push thepig into the pig trap 32. In some implementations, the controller 21Acan automatically and without user intervention control the articulatedarm 5 to perform operations based on signals received from one or moresensors (described below). In some implementations, the controller canreceive instruction signals (over wired or wireless connections) fromanother operator (for example, a human operator or another computer orcontroller) and responsively control the articulated arm 5 to performoperations. In this manner, the articulated arm 5 can be controlledeither by the onboard controller or by another controller or computer.

In some implementations, the arm 5 is equipped with one angle andposition transmitter per arm element. The arm element transmitters areconnected to the controller 21A which determines the sequence of angleand position commands to be sent to the arm 5 to reach the final desiredarm position. The system 34 can control the arm 5 based on signalsreceived from one or more of the angles and position transmitters togrip, release, raise or lower the pig (or combinations of them).

In some implementations, the articulated arm 5 is equipped with a loadsensor mounted onboard the system 34. The load sensor can sense a weightof the pig and communicate the sensed weight to the controller 21A. Thecontroller 21A can store threshold values associated with arm extensionand height during pig maneuvering. The controller 21A can determine ifthe load sensed by the load sensor will necessitate an arm extension andheight within the stored threshold values. When the controller 21Adetermines that the load is not safe to be moved, it turns on the alarmbeacon and aborts the operation by inhibiting the action of arm 5.

In some implementations, the system provides an illumination sensor 3Bthat is connected to the controller 21A which determines if the camera15 built-in lighting is needed during dark days. Also, the system caninclude a sliding tray 6 and a tray guiding rail 7. The tray 6 sustainsthe articulated arm 5 and associated power unit 13, as well as providingstructural support to the motor and transmission mechanism (not shown inFIG. 4A) of tray 6. The tray guiding rail provides support to thesliding mechanism of the tray 6 and the conveyor belt structure. In someimplementations, the mechanism can include a pinion which slides on ahorizontal rack attached to the tray guiding rail 7. Referring to FIG.2A, the front camera 15 featured with pan tilt and zoom commands allowsthe operator to monitor the desired pig operation and to ensure safeconditions free from obstacles above and under the USPGV.

FIG. 2B and FIG. 2C shows the sliding conveyor 84 which provides supportby the conveyor belt 83 to the pig or pigs already mounted on as shownin FIG. 4B. The conveyor belt is actioned by the motor 85. The sensors82 provide indication of the conveyor tray passage by the chassis frontend edge to the controller 21 which determines the maximum travel of theconveyor tray outside the chassis edge until the pig trap door isreached. The chassis can also be referred to as an outer body.

FIG. 3 is a schematic diagram of outriggers of an example of anautomatic pipeline pig handling system with one or more outriggerassemblies. The automatic pipeline pig handling system can besubstantially similar or identical to the system described withreference to FIGS. 2A-2C. An outrigger assembly can include an outrigger10 connected to an outrigger pad 12 connected to a telescoping arm ofthe outrigger 10. The outrigger 10 can provide support for the arm 11 ofthe hydraulic piston 10. In some implementations, the automatic pipelinepig handling system can include wheels to traverse a path to the pigtrap. The system can include multiple steering drivers (for example, onesteering driver per wheel or one steering driver for multiple wheels).Each wheel can be individually motorized. The system controller canindependently modify or control (or both) a position and speed of eachwheel. The system controller can control each wheel to move the systemforwards, backwards, left, or right.

Upon reaching the pig trap, the system controller can operate theoutrigger 10 to extend the telescoping arm until the outrigger pad 12contacts the ground. The system controller can continue to extend thetelescoping arm after the outrigger pad 12 contacts the ground to raisethe system until the wheel no longer contacts the ground. In thismanner, the system controller can operate multiple outrigger assembliesto raise the system from the ground or to stabilize the system relativeto the ground or both.

FIGS. 4A-4C are schematic diagrams of a pipeline pig being carried by anexample of an automatic pipeline pig handling system. As describedabove, the automatic pipeline pig handling system can be implemented asan unmanned and self-propelled ground vehicle (USPGV). To do so, thesystem can include multiple onboard sensors mounted at multiplelocations. An on-board controller can receive signals from one or moreor all of the multiple on-board sensors, and responsively performoperations without user intervention. The operations can includepropelling the system from one location to another, loading a pipelinepig on to or unloading a pipeline pig from the system, or inserting orretrieving the pipeline pig into a pig trap, to name a few.

In some implementations, the system can include an onboard camera 15positioned at a location on the system. For example, the onboard camera15 can be positioned at the front of the system. In general, the onboardcamera 15 can be positioned anywhere on the system, for example, therear end or somewhere between the front and rear ends. The onboardcamera 15 can have different angles of view to allow capture ofdifferent angular extents. In some implementations, the onboard camera15 can be controllable to point the viewfinder at different directionssurrounding the system. The camera is featured with pan, tilt and zoomcommands such that the operator can remotely observe positioning of thepig at the pig trap entry door.

The system can include a conveyer 17 that can span at least a portion ofa longitudinal dimension of the system between the front end and therear end. Using an articulated arm, similar to the arm described abovewith reference to FIG. 2A-2C, a pig 14 can be placed on the conveyer 17.The conveyer 17 can include a conveyer belt 19 which can be operated tomove the pig 14 forward or backward along the longitudinal dimension ofthe system between the front end and the rear end. The system caninclude a distance sensor 18 and an obstruction sensor 19. In someimplementations, the distance sensor 18 can be mounted on a front end ofthe system adjacent to (for example, below) the conveyer 17. The systemcan also include a gas sensor 20 that can detect gas, for example, H2Sgas or other gas. The system can also include a low explosive mixturesensor mounted to the chassis (outer body). In some implementations, theobstruction sensor 19 and the gas sensor 20 can be positioned atsubstantially the same height from the ground. One sensor of each typeis described or shown. However, the system can include multiple sensorsof each type. For example, the obstruction sensor 19 can be mountedbetween two gas sensors 20 on the same supporting structure.

The distance sensor 18 can measure a distance between the chassis (outerbody) and the pig trap. The obstruction sensor 19 can determine apresence of an obstruction along the trajectory that the system 34 takesto the pig trap door 48. When the obstruction sensor 19 detects anobstruction, the controller 21A can cause the system 34 to take a routethat avoids the obstruction.

In some implementations, the controller 21A to which the multipleonboard sensors (for example, the onboard camera 15, distance sensor 18,obstruction sensor 19, or other sensors) can be connected either usingwires or wirelessly can also be onboard the system 34. The controller21A can be implemented as processing circuitry (for example, includingprocessors arranged and connected on a motherboard) or acomputer-readable medium storing instructions executable by one or morecomputer processors to perform operations. In some implementations,based on and responsive to the signals received from the multipleonboard sensors, the controller 21A can cause the system to operate as aUSPGV.

The controller 21A can execute one or more algorithms to operate thesystem in one of the following modes—an auto tracking mode and a manualmotion mode. In the auto tracking mode, the operator selects autotracking by GPS, by ground beacons 51, or by another techniquepreviously mentioned. The operator can select the trajectory that theUSPGV will follow. Once selected, the controller 21 determines theUSPGV's current position and determines the sequence of steeringcommands to be sent to the chassis front wheels. The controller 21 firstsends a motion command to the rear motorized wheels while monitoring theUSPGV speed by reading the speed sensor (not shown). Next, thecontroller executes the sequence of steering movements to ensure theUSPGV arrives to the desired destination. If an obstacle is detected,the controller 21A sends the stop command to the USPGV and determinesthe new sequence of steering commands to avoid the obstacle includingreverse, drive and turn commands. The operator can monitor the USPGVmotion by the camera 15 and determine if the USPGV must be switched tomanual motion mode. While the USPGV moves, the controller 21 monitorsthe sensors and flashes the beacon 1 and transmits a signal to theoperator. In the manual motion mode, the operator can fully control thesystem manually using a remote control 49. The controller 21A willcontinue receiving obstacle, distance, inclination and height sensors aswell as reading GPS position and receiving camera images in order toprovide the operator with the information necessary to perform USPGVmaneuvers.

Referring to FIG. 4A, in some implementations, the articulated arm 5 isequipped with a proximity wireless reader 21B capable of reading datafrom a pig equipped with wireless identification transmitters and orwireless data transmission module to communicate operation log data tothe system. The reader 21B further transmits the information to thecontroller 21A which obtains the dimensional and weight data of the pigfrom a local database resident in a non-volatile memory in order todetermine the position of the arm 5 in relation to the pig to push orpull the pig into or from the pig trap.

FIG. 4B shows the pipeline pig being positioned within the pig trapdoor. To do so, the controller can operate the wheels of the system totransport the system to a location near the pig trap door. Thecontroller can operate the system to change (for example, increase ordecrease) a height of the pig relative to the ground. For example, byoperating the outriggers or the scissors lift, the controller canincrease a height of the pipeline pig such that the conveyor belt israised to a bottom portion of the pig trap door. The controller canoperate the sliding tray to extend past a front end of the system untila front end of the tray is substantially aligned with the bottom portionof the pig trap door. The controller can then operate the conveyer beltto move the pipeline pig to the entrance of the pig trap door. Thehandling system can include a counterweight on a rear end to balance acantilever load created as the pig is moved beyond the front end of thehandling system. Alternatively, or in addition, the articulated arm canprovide support to the pipeline pig thereby decreasing a load on thesliding tray. FIG. 4B shows the pipeline pig being moved from a firstposition near the rear end of the system to an intermediate positionbetween the first position and the trap door entrance. FIG. 4C shows thepipeline pig moved to a second position between the intermediateposition and the pig trap door entrance. At this position, thearticulated arm can push the pipeline pig through the pig trap door.

FIG. 5 is a schematic diagram of an example of an automatic pipeline pighandling system with a scissors lifter. FIG. 5 shows the hydrauliclifter of the USPGV consisting of a scissor mechanism actioned by thehydraulic pistons (for example, piston 25) which push against thestructure that supports the guiding rails 7 and 8 while the scissorsmechanism, is attached to the USPGV chassis 24.

FIG. 6 is a schematic diagram of an articulated arm of an example of anautomatic pipeline pig handling system. In some implementations, thearticulated arm 27 can transition between a fully folded state and afully extended state. The articulated arm 27 can be operativelyconnected to a controller (for example, the controller 21A describedabove), which can provide instructions responsive to which thearticulated arm 27 can be positioned at any position between the fullyfolded state and the fully extended state. In some implementations, thearticulated arm 27 can include a telescoping piston which can extend areach of the articulated arm 27 in the fully extended state. Forexample, the articulated arm can be transitioned from the fully foldedstate to an extended state in which the telescoping piston has not beenextended. The reach of the arm can further be extended by extending thetelescoping piston.

In addition, the articulated arm 27 can be connected to the system (forexample, the USPGV) on a rotatable base. For example, the defaultposition of the articulated arm 27 can be the fully folded state. Inresponse to an instruction from the controller, the articulated arm 27can pick up a pipeline pig by rotating about the base to a location ofthe pipeline pig and extending from the fully folded state. Upon pickingup the pig, the articulated arm 27 can retract and rotate to place thepig on a conveyer (for example, the conveyer 17) on the system. Thearticulated arm 27 can have three joints. About each joint, thearticulated arm 27 can rotate 360 degrees on the horizontal plane and 90degrees on the vertical plane. The arm includes a hook that allows thepig to be engaged and lifted.

In another example, the articulated arm can push the pipeline pigthrough the trap door 32. For example, one or more position sensors (forexample, pig position sensor 28) can be affixed (for example, locateddirectly on) a portion of the pipeline connected to the trap door 32.Similarly, one or more position transmitters (for example, pig positiontransmitter 29) can be affixed (for example, located directly on) theportion of the pipeline connected to the trap door 32. The articulatedarm can extend to the fully extended state (or a portion of the fullyextended state) to push the pipeline pig into the pipeline through thetrap door 32. The pig position sensor (or sensors) 28 can sense aposition of the pig in the pipeline and communicate the position to thepig transmitter (or transmitters 29). The pig transmitter 29 cancommunicate the position of the pig within the pipeline to thetransmitter/receiver 31, which can transmit the communicated position ofthe pig within the pipeline to the controller 21A.

The controller 21A can cause the articulated arm to insert the pig, thatis, by extending the articulated arm, into the pipeline until the pighas reached a desired position within the portion of the pipeline. Forexample, the controller 21A can store a desired position in acomputer-readable memory. When the position of the pig received from thetransmitter/receiver 31 (mounted either on the trap door 32 or theUSPGV) matches or is substantially equal to the stored desired position,then the controller 21A can stop a further extension of the articulatedarm. For example, the transmitter/receiver 31 can continuously orperiodically communicate a distance between the pig and the USPGV. Thecontroller 21A can then cause the articulated arm to release thepipeline pig and to remove the arm from within the pipeline.

FIG. 7 is an operational schematic diagram showing a pig trap andassociated valves to flow the pipeline pig through the pipeline. In oneimplementation, the pressure sensors 58 and 59 work in a 2-out-of-2voting configuration to ensure that the pig pressure is measured withinacceptable confidence level for the controller 47 to transmit apermissive signal to the USPGV controller 21 to allow initiating pigoperations. A 2-out-of-2 voting configurations requires that two sensorsare in agreement with one another. 74 is the limit switch of the lateralvalve 73 which opens or closes the flow to the processing plant. Thelimit switch 74 is connected to the controller 47. 71 is the limitswitch of the trap valve 72 which isolates the trap from the line. Thelimit switch 71 is connected to the controller 47 to indicate when thetrap is ready for launching or receiving.

FIG. 8 is a schematic diagram of a hydraulic double acting telescopicpiston of the articulated arm of an automatic pipeline pig handlingsystem. This telescopic piston is controlled by the onboard controller21 and is used for both launching and receiving operations. In the caseof launching operations, the telescopic piston is used to push the piginto the pig's final position inside the pig trap while for pulling, thetelescopic piston is used to start retrieving the pig from its initialposition inside the pig trap. The outer cylinder 71 allows the middleinner cylinder to slide out or slide in by the action of the hydraulicfluid ingress through the port 81 or egress through the port 76.Similarly, the fluid ingress allows the end piston 79 to slide out toallow the telescopic piston to reach the maximum length.

FIG. 9 is a schematic drawing of an example of the electro hydraulicsliding camera mechanism mounted on the lateral outer sides of theguiding rail 7 to allow the operator to remotely monitor details of thescraping operations as well as identify the type of obstacles under theUSPGV chassis (outer body) and its surroundings. The mechanism providesto the camera 95, 0 to 180 degrees rotation on the vertical planeperpendicular to the guiding rail 7, function provided by the hydraulicactuator 92, axial movement along the horizontal axis by the hydraulicpiston 93 and vertical movement by the hydraulic piston 94. Thehydraulic actuator 92 is mechanically connected to a sliding trailermounted inside the camera sliding rail 96. An example of the slidingtrail is shown in FIG. 11. The camera 95 is equipped with pan, tilt, andzoom controls. The camera control and power wiring runs inside aflexible conduit 98, which provides sufficient length for the piston 94to extend and reach its maximum length. For this purpose the conduit 98is affixed to a conduit fastener 99 attached to the piston 94 body. Inthe same manner the flexible conduit 98 is long enough to allow thepiston 93 to reach its maximum length. For this purpose, the conduitfastener 100 holds the conduit fixed at a point where the fastener 100is attached to the piston 93 body. In one implementation the USPGV isequipped with two cameras one on each side, mounted each on a camerarail identical to the rail 96. The hydraulic pistons are powered by thehydraulic unit 90 which is wired to the controller 21. The wiring, notshown in FIG. 9, runs from the electrohydraulic manifold 91 and runsthrough the actuator enclosure 92 and passes thru the bracket 97.

FIG. 10 is a schematic drawing of an example remote controller to beused by an operator. The remote controller has a right joystick 247 tocontrol pan movement continuously from 0 to 360 degrees of themonitoring video camera 15 selected by the selector switch 207. In oneimplementation, the camera 15 is mounted on the mechanism shown in FIG.9 on the right USPGV guiding rail 7 and one more camera on identicalmechanism on the left side. The selector switch 207 enables which cameraout of the two will be pan-controlled by the joystick 247 and alsoenables the joystick 241 to control more zoom at position 251, less zoomat position 249, and tilt up at position 250 and tilt down at 248. Theselector 207 at position 201 enables the push buttons 238, 239, and 240to move the hydraulic lifter pistons 25 to move the sliding conveyordown stop or up respectively. The selector 207 at position 202 enablesthe articulated arm tray 6 to be controlled by the joystick 247 to moveforward at position 243 and backward at position 246. The selector 207at position 203 enables the control of the conveyor tray 16 which onceselected can be moved in and out of the chassis by the joystick 247 atthe position 243 and 246 respectively. The selector 207 at position 204enables the control of the right camera and at position 208 the controlof the left camera, both of them by the action of the joy sticks 247 and241. The selector 207 position 206 is reserved to enable the command ofthe conveyor belt by the push buttons 238, 239, and 240, to movebackward, stop and move forward. The two positions switch 224 enablesthe USPGV to work in either auto tracking mode position 225 or manual atposition 223. The two positions switch 226 enables the USPGV to work ineither auto or manual pulling/pushing pig mode positions 227 and 228respectively. The two positions switch 236 enables the USPGV to eitherwork in pushing or pulling pig mode of operations at positions 237 and235 respectively.

The two positions switch 233 enables the Horizontal, Vertical andRotational (HVR) commands of the right or left side camera 15, selectedby the selector 207, to be controlled by the joysticks 247 and 241. Whenthe 233 switch is at position 232 the joysticks 247 and 241 are enabledto control HVR. When it is at position 234 the HVR control is disabled.The two positions switch 230 enables at position 231 the joysticks 247and 241 and the selector 211 to control the arm and disables all armcontrol commands at position 229. The selector switch 211 enables thecontrol of each segment of the arm, from the first at position 209, thesecond, 210, the third at 214, the forth 213 and the telescopichydraulic piston of FIG. 8 at position 212. For each arm segment, thejoystick 241 can control segment rotation from 0 to 90 degrees or moredepending on the arm mechanical construction and settings by moving fromposition 250 to 248 respectively as well as controlling the extension orretraction of the telescopic piston of FIG. 8. The remote control has anabort push button 242 which stops all activities of the entire USPGV.

FIG. 11 is a schematic diagram of an example of the camera sliding traywhich is mounted on each lateral of the USPGV to allow a video camera tomove horizontally along the USPGV guiding rails. The pinion 304 moves onthe geared rack 301. The electrical motor 308 moves the gears 307 whichtransmits the rotational movement to the pinion 304. The pinion 306 andits pair on the other side of the supporting tray 305 allows the tray305 to keep aligned and distribute the weight on both geared racks 301and 302. The racks 301 and 302 are attached to the “C” profile 300 whichis attached to the guiding rail 7. The motor 308 power, control as wellas video camera power and control wiring run in the cable bundle 303,which terminates in the distribution box 309 which also contains themotor direction inverter to allow the tray 305 to move forward andbackward, thus moving the video camera horizontally.

The controller of the automated pipeline pig handling system describedhere can receive signals from multiple sensors and, based on thereceived signals, operate the system to perform multiple operations. Thecontroller can operate the system to execute pig launching and receivingtasks in pipelines equipped with pig traps. For example, the controllercan operate the system to pick up one or more pipeline pigs of eithercleaning type or inspection type (or both) from a support structure. Thepig is supported by the conveyer 16. Referring to FIG. 1, the conveyorbelt (not numbered yet on FIG. 1). In one implementation, the conveyorbelt includes one single belt covering the entire width of the conveyorsliding tray 16. In another implementation, the conveyor is formed bytwo separated belts which are each inclined towards the axial centerlineof the USPGV in order to ensure the pig remains on the axial directionas it is retrieved from or pushed into the pig trap. In anotherimplementation, the pig can be supported by a bed of passive rollerswhere the actuated arm moves the pig in the horizontal direction

FIG. 12 is a schematic diagram of an example of the two sided conveyorof two separated belts. On one side of the conveyor the belt 401consists of two plates 403 and 405 connected together by a shaft 406.The belt 401 is provided with a stopper 400 regularly spaced. The userstopper can be inserted in the belt on slots machined on the belt suchthat the user can adjust the gap between stoppers.

The controller can operate the system to place the picked up pig or pigsat the desired position on the conveyer belt. The controller can operatethe system to move the conveyor to change locations of the pigs on theconveyer belt. To do so, the conveyer belt can include a sheet of rubber(or other flexible material) rolled over two cylinders spaced apartalong a longitudinal dimension of the system. To change the locations ofthe pigs on the conveyer, the controller can cause the two cylinders torotate in either clockwise or counter-clockwise direction.

The controller can operate wheels of the system to transport the systemfrom a first location to a second location, for example, near thevicinity of the trap door. For example, an operator can program atrajectory into a computer-readable memory in the system. The controllercan access the trajectory in the memory and control the system totraverse the trajectory.

The controller can operate the system to adjust a height of the pigrelative to the ground. For example, the controller can operate theoutriggers or the scissors lifter (or both) described above to adjustthe height of the pig relative to the ground. The controller can operatethe system to position the pig inside the pipeline through the trapdoor.To do so, the automated pipeline pig handling system can include anautomated pig door opener and locking/unlocking device.

Referring to FIG. 6, the automatic door opener consists of redundanthydraulic pistons 37, each of which is connected on one end to the pigdoor hinge and the other end pivoting on another hinge attached to thesupporting pole 36. The hydraulic arms are powered by the hydraulic unit35 and controlled by the local controller 47.

Depending on whether the pig is to be launched into or received from thepipeline, the controller can operate the system to detect a pressure inthe pressure trap or to purge, pressurize or depressurize the pig trap(or both). The system purges the trap by opening the drain valve 45which is connected to the local controller 47. The controller 47 and theonboard USPGV controller 20 are connected by a wireless link. Thecontroller 47 transmits to the controller 20 the status of the trap andits readiness to commence pig receiving or launching operations. TheUSPGV can be operated remotely and manually according to the below tableof functions.

Manual by remote Automatic (On- S. No Function controller boardcontroller) 1. Move forward and x x backward the trailer 2. Turn leftand right x x the trailer 3. Move up, down and x rotate the hydraulicarm at full length for extend, pushing or pulling the pig. 4. Activateconveyer x x 5. Slide conveyer x x 6. Slide hydraulic arm x x 7. Turn onalarm x beacons 8. Activate alarm horn x 9. Abort operation x 10. Switchto auto mode x 11. Initiate pushing or x x pulling of pig 12. Activatedoor x x opening and closing 13. Open and close the x x pig trap door14. Move the trailer x x Chassis up and down 15. Moving the trailer x xforward and backward by electrical motor operated action on 4 wheels and2 steering front wheels. 16. Turning direction of x x the trailer whilemoving on right and left. 17. Moving up and down x x the trailer byhydraulic suspension 18. Sliding the conveyer x x to move the pigforward and backward 19. Moving the pig by a x x conveyer 20. Moving up,down x x rotate the hydraulic arm.

The controller can operate the system to execute multiple safe tasks byutilizing actuated pig associated valves. The tasks can includestopping, aborting, or reinstating pig trap conditions. The tasks canalso include opening and closing the pig trap door following asafety-compliant sequence.

FIG. 13 is a schematic diagram of an example of the automatic dooropener showing the hydraulic piston main hinge 505 attached to thesupport pole, the pivot engaging block 501 which is inserted in themanual level insertion hole of the lower side of the door hinge 500. Theend 502 of the piston arm 504 is linked to the pivot by a bushing whichallows moving the trap door by contracting the piston arm hydraulically.

If the operator selected automatic pushing of the pig: first, the USPGVmoves towards the trap door and aligns itself until the USPG axial axisis aligned to the axial direction of the trap. Next, the UPSG ispositioned at a safe distance from the trap door to allow the door toopen. The distance between the USPGV and the trap is measured by thedistance sensor and the controller 20 determines how much closer theUSPGV must move until the final position is reached. In absence ofobstacles and after receiving a permissive command from the local trapcontroller 47, the USPGV will initiate the operation selected by theoperator on the remote control. Once the UPSGV controller 20 receivesthe reading of the pig trap upon loading the pig on the conveyor belt bythe operator, the USPGV moves the sliding conveyor 16 out of the chassisuntil it reaches a safe distance to the trap door, which is determinedby the controller 20 after the USPGV reaches its final position. Next,the conveyor belt 17 is activated and the belt motors rotate to move thepig mounted on the belt close to the trap door. The stoppers 400 ensurethe pig does not slide on the conveyor belt as it moves to the trapdoor. Next, the pig reaches the trap door and remains in that positionwhile the arm started to execute a series of movements to reach

A fully horizontal position as shown in FIG. 5. Next, the USPGV tray 6starts to move towards the pig while the arm is fully extended. Next,once the tip of the arm reaches the pig trap tail, the tray 6 starts tomove pushing the pig towards the inside of the trap. Next, the pigreaches its final position by the action of the hydraulic piston 30which positions the pig at the desired location inside the trap. The pigsensors 28 mounted on the trap send the pig arrival signal to the localcontroller 47 which in turn retransmits the signal to the USPGVcontroller 20 indicating that the pig reached the final position and itis ready for launching. This last action makes the controller to send astop command to the hydraulic piston and initiate arm retrieval bymoving the tray 6 backward and re-establishing the arm initialconditions.

The implementations mentioned within this disclosure can be utilizedwith method 1400 shown in FIG. 14. At 1402, a location of an entrance toa pipeline pig launcher is determined by an automated pipeline pighandling system positioned at a starting location. At 1404, the pipelinepig is self-aligned with the entrance to the pipeline pig launcher bythe automated pipeline pig handling system. At 1406, the pipeline pig isinserted into the entrance to the pipeline pig launcher by the automatedpipeline pig handling system. At 1408, the automated pipeline pighandling system self-returns to the starting location.

The implementations mentioned within this disclosure can also beutilized with alternative method 1500 shown in FIG. 15. At 1502, alocation of an entrance to a pipeline pig trap is determined by anautomated pipeline pig handling system positioned at a startinglocation. At 1504, the automated pipeline pig handling system isself-aligned with the entrance to the pipeline pig launcher by theautomated pipeline pig handling system. At 1506, the pipeline pig isremoved out of the entrance to the pipeline pig trap by the automatedpipeline pig handling system. At 1508, the automated pipeline pighandling system self-returns to the starting location.

A number of implementations of the invention have been described.Nevertheless, it will be understood that various modifications may bemade without departing from the spirit and scope of the invention. Forexample, the USPGV could be configured to work with a vertical piglauncher or a vertical pig trap. Accordingly, other implementations arewithin the scope of the following claims.

The invention claimed is:
 1. A method of handling a pipeline pig, themethod comprising: determining, by an automated pipeline pig handlingsystem positioned at a starting location, a location of an entrance to apipeline pig launcher configured to launch a pipeline pig into apipeline, wherein the entrance to the pipeline pig launcher is open,wherein the automated pipeline handling system comprises: an outer body,and an articulated arm attached to the outer body, the articulated armconfigured to connect to the pipeline pig; self-aligning, by theautomated pipeline pig handling system, the pipeline pig with theentrance to the pipeline pig launcher; inserting, by the automatedpipeline pig handling system, the pipeline pig into the entrance to thepipeline pig launcher, wherein the entrance to the pipeline pig launcheris closed after the pipeline pig is inserted into the entrance by theautomated pipeline pig handling system; self-returning, by the automatedpipeline pig handling system, to the starting location after insertingthe pipeline pig into the entrance to the pipeline pig launcher;operating, by the automated pipeline pig handling system, thearticulated arm to lift the pipeline pig; and operating, by theautomated pipeline pig handling system, the articulated arm to place thepipeline pig on the outer body.
 2. The method of claim 1, wherein theautomated pipeline handling system comprises: a transportation assemblyattached to the outer body, the transportation assembly configured toreceive the pipeline pig and to move the pipeline pig to one or more ofa plurality of locations on the transportation assembly, a plurality ofsensors, at least one of the sensors attached to the outer body, theplurality of sensors configured to sense parameters associated with alocation of the outer body relative to the pipeline pig launcher; and acontroller comprising processing circuitry, the controller connected tothe articulated arm, the transportation assembly and the plurality ofsensors, the controller configured to perform pipeline pig launching orretrieval operations by controlling the articulated arm and thetransportation assembly based on the parameters sensed by the pluralityof sensors, wherein operating the articulated arm to lift the pipelinepig and operating the articulated arm to place the pipeline pig on theouter body comprises: receiving, by the automated pipeline pig handlingsystem, first sensor information from the plurality of sensors, thefirst sensor information identifying the starting location of thepipeline pig relative to the location of the outer body; adjusting, bythe automated pipeline pig handling system, a position of thearticulated arm to attach to the pipeline pig based on identifying thestarting location of the pipeline pig relative to the location of theouter body; moving, by the automated pipeline pig handling system, thearticulated arm to the starting location of the pipeline pig; andattaching, by the automated pipeline pig handling system, thearticulated arm to the pipeline pig.
 3. The method of claim 2, whereinthe entrance to the pipeline pig has a first longitudinal axis, whereinthe outer body has a second longitudinal axis, wherein self-aligning thepipeline pig with the entrance to the pipeline pig launcher comprisesself-aligning the second longitudinal axis with the first longitudinalaxis.
 4. The method of claim 3, wherein self-aligning the secondlongitudinal axis with the first longitudinal axis comprises: receiving,by the automated pipeline pig handling system, second sensor informationfrom the plurality of sensors, the second sensor information identifyinga location of the first longitudinal axis of the entrance to thepipeline pig launcher relative to a location of the second longitudinalaxis of the outer body; and operating, by the automated pipeline pighandling system, the transportation assembly to move the outer body andalign the second longitudinal axis with the first longitudinal axis. 5.The method of claim 4, wherein the automated pipeline pig handlingsystem comprises at least one of a scissors lift or outriggers, whereinself-aligning the second longitudinal axis with the first longitudinalaxis comprises: operating, by the automated pipeline pig handlingsystem, the scissors lift or the outriggers to increase an elevation ofthe pipeline pig from a ground and to align the second longitudinal axiswith the first longitudinal axis.
 6. The method of claim 1, wherein thearticulated arm is extendable from a retracted state to an extendedstate, and wherein inserting, by the automated pipeline pig handlingsystem, the pipeline pig into the entrance to the pipeline pig launchercomprises: operating, by the automated pipeline pig handling system, toextend the articulated arm to which the pipeline pig is attached fromthe retracted state to the extended state, wherein, in the extendedstate, the articulated arm extends into the entrance to the pipeline piglauncher.
 7. The method of claim 1, wherein the articulated armcomprises a telescoping piston, and wherein inserting, by the automatedpipeline pig handling system, the pipeline pig into the entrance to thepipeline pig launcher comprises: operating, by the automated pipelinepig handling system, the articulated arm to which the pipeline pig isattached to extend the telescoping piston, wherein an extendedtelescoping piston extends into the entrance to the pipeline piglauncher.
 8. A method of handling a pipeline pig, the method comprising:determining, by an automated pipeline pig handling system positioned ata starting location, a location of an entrance to a pipeline pig trapconfigured to receive a pipeline pig from a pipeline, wherein theentrance to the pipeline pig trap is open, wherein the automatedpipeline pig handling system comprises: an outer body, and anarticulated arm attached to the outer body, the articulated armconfigured to connect to the pipeline pig; self-aligning, by theautomated pipeline pig handling system, the automated pipeline pighandling system with the entrance to the pipeline pig trap; removing, bythe automated pipeline pig handling system, the pipeline pig out of theentrance to the pipeline pig trap, wherein the entrance to the pipelinepig trap is closed after the pipeline pig is removed out of the entranceby the automated pipeline pig handling system; self-returning, by theautomated pipeline pig handling system, to the starting location afterremoving the pipeline pig from the entrance to the pipeline pig trap,operating, by the automated pipeline pig handling system, thearticulated arm to lift the pipeline pig; and operating, by theautomated pipeline pig handling system, the articulated arm to place thepipeline pig on the outer body.
 9. The method of claim 8, wherein theautomated pipeline handling system comprises: a transportation assemblyattached to the outer body, the transportation assembly configured toreceive the pipeline pig and to move the pipeline pig to one or more ofa plurality of locations on the transportation assembly, a plurality ofsensors, at least one of the sensors attached to the outer body, theplurality of sensors configured to sense parameters associated with alocation of the outer body relative to the pipeline pig launcher; and acontroller comprising processing circuitry, the controller connected tothe articulated arm, the transportation assembly and the plurality ofsensors, the controller configured to perform pipeline pig launching orretrieval operations by controlling the articulated arm and thetransportation assembly based on the parameters sensed by the pluralityof sensors, wherein operating the articulated arm to lift the pipelinepig and operating the articulated arm to place the pipeline pig on theouter body comprises: receiving, by the automated pipeline pig handlingsystem, first sensor information from the plurality of sensors, thefirst sensor information identifying the starting location of thepipeline pig relative to the location of the outer body; adjusting, bythe automated pipeline pig handling system, a position of thearticulated arm to attach to the pipeline pig based on identifying astarting location of the pipeline pig relative to the location of theouter body; moving, by the automated pipeline pig handling system, thearticulated arm to the starting location of the pipeline pig; andattaching, by the automated pipeline pig handling system, thearticulated arm to the pipeline pig.
 10. The method of claim 8, whereinthe articulated arm is retractable from an extended state to anretracted state, and wherein removing, by the automated pipeline pighandling system, the pipeline pig from the entrance to the pipeline pigtrap comprises: operating, by the automated pipeline pig handlingsystem, to retract the articulated arm to which the pipeline pig isattached from the extended state to the retracted state, wherein, in theretracted state, the articulated arm retracts out of the entrance to thepipeline pig trap.
 11. The method of claim 8, wherein the articulatedarm comprises a telescoping piston, and wherein removing, by theautomated pipeline pig handling system, the pipeline pig out of theentrance to the pipeline pig trap comprises: operating, by the automatedpipeline pig handling system, the articulated arm to which the pipelinepig is attached to retract the telescoping piston, wherein a retractedtelescoping piston retracts out of the entrance to the pipeline pigtrap.